Dockerfile.arm64_env

FROM arm64v8/ros:noetic as requirement

# select bash as default shell
SHELL ["/bin/bash", "-c"]

# installing complementary tools
RUN apt-get update && \
    apt-get install python3 -y \
    python3-pip -y

# Environment setup
RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

RUN apt-get update && apt-get install python3-rosdep -y \
    python3-rosinstall-generator -y \
    python3-catkin-tools -y

RUN rosdep update

COPY rubyrhod_ws/src/REQUIREMENT.bash /REQUIREMENT.bash

RUN sed -i "s/apt-get install ros-noetic-rqt\*/DEBIAN_FRONTEND=noninteractive apt-get install ros-noetic-rqt\*/g" /REQUIREMENT.bash

RUN cat /REQUIREMENT.bash

RUN source /REQUIREMENT.bash

COPY rubyrhod_ws/src/kortex_api-2.5.0.post6-py3-none-any.whl /kortex_api-2.5.0.post6-py3-none-any.whl

RUN pip install kortex_api-2.5.0.post6-py3-none-any.whl

FROM requirement as dependencies

# importing rubyrhod_ws, will be used to get ros dependencies
COPY rubyrhod_ws rubyrhod_ws

WORKDIR /rubyrhod_ws

# Get packages dependencies and store in a file
RUN source /opt/ros/noetic/setup.bash && \
    echo 'apt-get install -y' \
    $( \
        rosdep resolve $(rosdep keys --from-paths src --ignore-src | sort) | \
        sed '/^#ROSDEP/d' | \
        sed '/#apt/d' | \
        sed ':a;N;$!ba;s/\n/ /g' \
    ) > /dependencies.bash

FROM requirement as env

# Importing dependency list from intermediate image
COPY --from=dependencies /dependencies.bash /dependencies.bash

RUN chmod +x dependencies.bash && ./dependencies.bash